Position tracking controllers for two wheeled inverted pendulum robot
This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelli...
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| Main Authors: | , , , |
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| Format: | Article |
| Published: |
2014
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/54532/ http://dx.doi.org/10.4028/www.scientific.net/AMM.554.660 |
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| Summary: | This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelligent controller are designed and simulated and the performances of the two controllers are compared. The FLC shows better performance than the LQR controller. |
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